you can get on to RockAuto.com, put in the make/model/year & engine. There will be a listing of pinion seals under "driveline" or something like that. If your truck has 6-lug wheels you will select the pinion seal for a 10-bolt aka 8.5 & 8.6 axle. Nothing to it. Gaskets & seals are cheap. I would recommend changing all of the oils from differentials, transmission & such if you will be underneath it anyway.
Get your PS pipes or whatever else at the same time. Flush the ever living $hit out of the power steering loop; it will take a good 4-quarts but you can use the Oreilly Auto brand or whatever is cheap, maybe top it off with a Delco or Lucas 'power steering conditioner' if that floats your boat. If the PS must be opened up for a line replacement a flush would be my priority. Just purge it properly so that you don't burn the pump up.
Now is a great time to get everything on the truck up to ***** if you want to hang on to it. But at this age & miles you are going to have a catastrophic failure of the expensive sorts if you don't invest some money into it, maintaining the original systems. I'd hate for something to take a dump & make you wish you had sold it while it was still running. You should be doing at least 1 R&R per week to keep pace with what is problematic and then get ahead of everything else because it's going to need everything. Besides your new parts you need to assume another $30 in tools for every project. Or you can always get specialty tools from the loaner program at big box stores, it just depends on your proximity and if you have double the money on tap for collateral until the tools are returned.
If you don't have a workshop book of sorts, you could look into that if you want to perform all repairs yourself. The Internet is great but nothing beats a good instruction manual listing the tools required for specific parts replacements and everything needed in regard to a maintenance program that will keep your truck on the road.
Differential Pinion Seal
Part Number: 2043 (AC DELCO)
Product Notes:
Differential Pinion Seal
All; Rear; (8.5" R.G.)
Per Vehicle: 1; Years: 1992-2013
If the main diff seal is leaking I KNOW the front axle shaft seals are leaking too. Now there's a job...
I just noticed your truck is 4x4. at least make sure the front diff is topped-off with oil if you aren't going to do a drain & refill, which you should. If it gets to running low because the oil all seeped out you are really going to have problems.